version: 66.09
glider: 178
mission: 10
dive: 13
start: 1 6 111 5 0 39
data:
$ID,178
$MISSION,10
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,248
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,501
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51840
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9725.877
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3115
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2748
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.583923
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,130
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,060111,045424,3247.338,-11900.822,36,1.1,36,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.6
$GPS2,060111,045956,3247.301,-11900.822,12,1.1,12,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.322,0.038
$KALMAN_X,21192.0,-189.6,-325.4,-43032.3,4656.5
$KALMAN_Y,-2399.2,-374.0,121.5,15540.1,-460.6
$MHEAD_RNG_PITCHd_Wd,263.5,13664,-19.3,-13.306
$D_GRID,1180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.01,-194.6,0.0,0.0,0,83,0.00,0.00,-64.88,0.000,2,0.000,0.000,163,2564,3046,0,0,0,0,0,0
$GC,84,-1.01,-194.6,3.4,-5.5,11,114,12.20,2.08,-9.68,0.000,4,0.273,0.081,2773,3779,3545,0,0,0,0,0,0
$GC,160,-1.01,-194.6,31.2,-33.3,22,169,0.00,2.00,0.00,0.000,6,0.000,0.041,2774,2536,3546,0,0,0,0,0,0
$GC,352,-1.01,-194.6,82.3,-25.3,41,357,0.00,2.08,0.00,0.000,4,0.000,0.064,2765,3767,3547,0,0,0,0,0,0
$GC,429,-1.01,-194.6,102.2,-26.3,48,436,0.00,1.90,0.00,0.000,6,0.000,0.041,2765,2550,3548,0,0,0,0,0,0
$GC,754,-1.01,-194.6,183.6,-24.3,59,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2550,3550,0,0,0,0,0,0
$GC,1058,-1.01,-194.6,252.6,-22.3,69,1066,0.00,2.05,0.00,0.000,4,0.000,0.067,2756,3775,3553,0,0,0,0,0,0
$GC,1101,-1.01,-194.6,263.0,-24.0,70,1109,0.12,1.90,0.00,0.000,6,0.203,0.041,2783,2546,3551,0,0,0,0,0,0
$GC,1427,-1.01,-194.6,328.6,-20.1,79,1435,0.00,2.45,0.00,0.000,4,0.000,0.047,2783,980,3553,0,0,0,0,0,0
$GC,1443,-1.01,-194.6,332.0,-19.8,79,1452,0.00,2.55,0.00,0.000,6,0.000,0.053,2774,2550,3551,0,0,0,0,0,0
$GC,1784,-1.01,-194.6,399.6,-19.7,85,1793,0.00,2.00,0.00,0.000,4,0.000,0.066,2764,3774,3551,0,0,0,0,0,0
$GC,1833,-1.01,-194.6,409.7,-20.2,85,1842,0.00,1.92,0.00,0.000,6,0.000,0.041,2764,2548,3551,0,0,0,0,0,0
$GC,2153,-1.01,-194.6,472.8,-19.9,91,2164,0.00,2.00,0.00,0.000,4,0.000,0.068,2755,3774,3551,0,0,0,0,0,0
$GC,2194,-1.01,-194.6,481.4,-21.7,91,2202,0.12,1.88,0.00,0.000,6,0.197,0.041,2783,2545,3553,0,0,0,0,0,0
$GC,2524,-1.01,-194.6,541.5,-18.1,97,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2545,3551,0,0,0,0,0,0
$GC,2825,-1.01,-194.6,592.9,-17.0,102,2834,0.00,2.47,0.00,0.000,4,0.000,0.048,2783,965,3552,0,0,0,0,0,0
$GC,2853,-1.01,-194.6,597.9,-17.2,102,2862,0.00,2.58,0.00,0.000,6,0.000,0.054,2774,2560,3550,0,0,0,0,0,0
$GC,3189,-1.01,-194.6,659.3,-18.6,108,3198,0.00,1.98,0.00,0.000,4,0.000,0.069,2764,3774,3547,0,0,0,0,0,0
$GC,3222,-1.01,-194.6,665.8,-19.5,108,3229,0.00,1.90,0.00,0.000,6,0.000,0.043,2764,2548,3547,0,0,0,0,0,0
$GC,3557,-1.01,-194.6,725.2,-17.7,114,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2547,3551,0,0,0,0,0,0
$GC,3859,-1.01,-194.6,776.5,-16.8,119,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2547,3548,0,0,0,0,0,0
$GC,4160,-1.01,-194.6,827.2,-16.6,124,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2546,3547,0,0,0,0,0,0
$GC,4463,-1.01,-194.6,875.6,-16.1,129,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2547,3547,0,0,0,0,0,0
$GC,4764,-1.01,-194.6,923.0,-15.8,134,4771,0.00,2.05,0.00,0.000,4,0.000,0.073,2754,3779,3546,0,0,0,0,0,0
$GC,4796,-1.01,-194.6,928.5,-17.0,134,4804,0.08,1.95,0.00,0.000,6,0.162,0.046,2784,2549,3547,0,0,0,0,0,0
$GC,5132,-1.01,-194.6,974.9,-13.7,140,5140,0.00,2.50,0.00,0.000,4,0.000,0.052,2784,976,3546,0,0,0,0,0,0
$GC,5192,-1.01,-194.6,983.3,-13.4,141,5200,0.00,2.55,0.00,0.000,6,0.000,0.057,2775,2557,3543,0,0,0,0,0,0
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5243,-0.20,0.0,990.1,13.8,141,5420,0.90,0.00,168.15,1.241,6,0.160,0.000,3040,2197,2750,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5421,begin climb
$GC,5422,1.01,194.6,996.0,0.0,144,5613,1.15,2.90,179.02,1.215,4,0.062,0.064,3443,3779,1953,0,0,0,0,0,0
$GC,5632,1.01,194.6,966.5,25.6,148,5640,0.00,2.70,0.00,0.000,6,0.000,0.044,3455,2202,1948,0,0,0,0,0,0
$GC,5977,1.01,194.6,882.4,24.3,154,5986,0.00,2.62,0.00,0.000,4,0.000,0.058,3468,621,1943,0,0,0,0,0,0
$GC,6090,1.01,194.6,855.2,22.8,155,6099,0.00,2.58,0.00,0.000,6,0.000,0.049,3467,2200,1942,0,0,0,0,0,0
$GC,6398,1.01,194.6,782.1,23.9,160,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2200,1944,0,0,0,0,0,0
$GC,6700,1.01,194.6,711.8,23.3,165,6708,0.00,2.60,0.00,0.000,4,0.000,0.058,3479,618,1940,0,0,0,0,0,0
$GC,6732,1.01,194.6,703.9,23.6,165,6742,0.15,2.58,0.00,0.000,6,0.203,0.050,3446,2204,1940,0,0,0,0,0,0
$GC,7058,1.01,194.6,632.9,21.9,171,7066,0.00,2.55,0.00,0.000,4,0.000,0.056,3456,620,1939,0,0,0,0,0,0
$GC,7085,1.01,194.6,626.6,22.7,171,7093,0.00,2.55,0.00,0.000,6,0.000,0.050,3456,2200,1939,0,0,0,0,0,0
$GC,7414,1.01,194.6,552.2,22.7,177,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2200,1938,0,0,0,0,0,0
$GC,7716,1.01,194.6,485.3,22.2,182,7725,0.00,2.55,0.00,0.000,4,0.000,0.056,3469,615,1938,0,0,0,0,0,0
$GC,7787,1.01,194.6,469.6,21.6,183,7797,0.00,2.55,0.00,0.000,6,0.000,0.048,3468,2201,1938,0,0,0,0,0,0
$GC,8139,1.01,194.6,393.3,21.6,189,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2201,1938,0,0,0,0,0,0
$GC,8441,1.01,194.6,328.6,21.6,194,8450,0.00,2.55,0.00,0.000,4,0.000,0.055,3482,611,1940,0,0,0,0,0,0
$GC,8474,1.01,194.6,321.1,22.2,194,8482,0.15,2.55,0.00,0.000,6,0.203,0.048,3446,2205,1937,0,0,0,0,0,0
$GC,8800,1.01,194.6,254.7,20.6,203,8808,0.00,2.55,0.00,0.000,4,0.000,0.054,3455,618,1937,0,0,0,0,0,0
$GC,8827,1.01,194.6,249.0,20.9,204,8835,0.00,2.53,0.00,0.000,6,0.000,0.047,3455,2201,1937,0,0,0,0,0,0
$GC,9158,1.01,194.6,180.5,20.4,215,9166,0.00,2.58,0.00,0.000,4,0.000,0.064,3455,3780,1937,0,0,0,0,0,0
$GC,9191,1.01,194.6,173.3,22.3,216,9199,0.00,2.47,0.00,0.000,6,0.000,0.043,3468,2195,1936,0,0,0,0,0,0
$GC,9516,1.01,194.6,109.1,19.4,227,9524,0.00,2.50,0.00,0.000,4,0.000,0.054,3480,613,1937,0,0,0,0,0,0
$GC,9587,1.01,194.6,95.2,20.2,230,9592,0.12,2.55,0.00,0.000,6,0.184,0.048,3446,2196,1939,0,0,0,0,0,0
$GC,9783,1.01,194.6,60.4,17.0,249,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2195,1937,0,0,0,0,0,0
$GC,9969,1.01,194.6,30.4,16.0,267,9974,0.00,2.60,0.00,0.000,4,0.000,0.064,3446,3774,1937,0,0,0,0,0,0
$GC,10017,1.01,194.6,22.7,16.3,271,10025,0.00,2.47,0.00,0.000,6,0.000,0.041,3455,2201,1937,0,0,0,0,0,0
$STATE,10154,end climb,SURFACE_DEPTH_REACHED
$STATE,10155,begin surface coast
$FINISH,0.6,1.012387
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10176,begin surface
$SM_CCo,10190,51.65,0.613,0,0,1526,300.25
$SM_GC,1.47,0.00,0.00,51.65,0.000,0.000,0.613,162,2552,1526,-9.23,0.06,300.25
$IRIDIUM_FIX,3236.51,-11858.30,060111,010107
$TT8_MAMPS,0.113848
$HUMID,45.51
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,33
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,88
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,13.1/482055/419089
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.8/298663/275484
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,85.6/7836665/1125627
$24V_AH,22.9,19.228
$10V_AH,10.1,13.726
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.850,95.425,347.175,51.650,0.000,28.033,29.371,175.123,30.000,0.000,13.692,0.000,8377.666,466.409,1662.184,65.972,33.338,1191.396,0.000,815.067,0.000,138.570,0.000
$DEVICE_MAMPS,273.105,81.090,1240.830,612.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,204.266,0.000,0.000,0.000,0.000,0.000,10661.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.334,0.000,0.000,0.000
$MEM,317672
$DATA_FILE_SIZE,10166,299
$CAP_FILE_SIZE,95277,0
$CFSIZE,260165632,253304832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,075207,3247.678,-11902.423,28,1.0,28,13.3